Basically any time we do a study which asks "Is doing a bit more exercise better for you?" the answer is yes. Like doing a single walk around the block every week is better than doing none. Even five minutes of exercise is better than zero. But obviously these have much less positive impact than several hours of moderate to intense exercise weekly. There are diminishing returns but they don't really kick in until you're already pretty fit, they are only really a concern that athletes need to think about.
So in terms of individual decision making things are really simple. Are you not fit? Do you feel bad? Are your basic markers for this looking bad (blood pressure, weight etc.)? Do more exercise. Do what you enjoy, do it safely, and do as much of it as you can as intensely as is reasonable, and the numbers will go in the right direction. This will put you way ahead of the average American in terms of fitness, it's not until a higher level that things really start to get technical.